JP6396275B2 - Numerical control device that overlaps operation by table format data - Google Patents

Description

  The present invention relates to a numerical control device, and more particularly to a numerical control device that overlaps operations based on table format data.

  As a method of driving and controlling each control axis in synchronization with the movement of the reference axis, the position information of the control axis corresponding to the reference axis position is stored in table format data provided in a memory or the like, Based on the information stored in the table format data, the operation function by the table format data for operating each control axis in synchronization with the reference axis is well known. In the function, table format data in which an auxiliary function such as an axis function based on time, axis position, or spindle position, or M code is set is stored in a memory or a storage device connected via a network. Each axis and auxiliary function are controlled while sequentially reading out the table format data.

  Patent Documents 1 and 2 disclose a numerical control device called a path table operation function using an operation function based on these table format data or electronic cam control. As a result, it is possible to freely operate the tool regardless of the machining program, and it is possible to reduce the machining time and increase the machining accuracy.

  In the conventional operation using table format data, the reference value described in the table format data and the coordinate value of the axis or spindle corresponding to the reference value are used as control points, and two control points are used as start points and end points. Perform the calculation. Specifically, the difference between the reference value of two points from the reference value of the control point that is the start point and the coordinate value of the axis or spindle and the reference value of the control point that is the end point and the coordinate value of the axis or spindle And the difference between the coordinate values of the axis and the spindle or the spindle is calculated, and the movement amount per unit reference value is calculated.

  FIG. 11 shows an example of conventional axis control using table format data. The table format data <TIME_TABLE — 0101_X> is table format data for controlling the X axis on a time basis, L is a reference value (reference time: msec unit), and X is an X axis coordinate value (mm unit) corresponding to the reference value. Show. If the current reference value is 1000 msec, the X-axis moves between two control points with a reference value of 1000 msec, a coordinate value of 100.0 mm as a start point, a reference value of 2000 msec, and a coordinate value of 200.0 mm as an end point.

  FIG. 12 shows a schematic block diagram of a numerical controller for calculating the movement amount. In the numerical control device 1 shown in FIG. 12, the command block read out by the reading unit is sequentially notified to the distribution processing unit 11 as two control points of a start point and an end point, and the reference value between the two control points is transmitted by the distribution processing unit 11. And the amount of movement per unit reference value from the difference between the coordinate values, and notifies the motor controller. In FIG. 12, descriptions of the command block reading unit and the motor control unit are omitted.

  In the X-axis control example using the table format data <TIME_TABLE — 0101_X>, the distribution processing unit 11 uses the reference value 1000 msec, the coordinate value 100.0 mm as the start point, the reference value 2000 msec, and the coordinate value 200.0 mm as the end point. From the difference 1000 msec (2000 msec-1000 msec) and the coordinate value difference 100.0 mm (200.0 mm-100.0 mm), the movement amount per unit reference value can be calculated as 0.1 mm / 1 msec.

However, in actuality, it is necessary to insert an acceleration / deceleration command in order to mitigate the impact caused by a rapid change in speed before and after the start / end of the operation of the shaft. Patent Document 3 discloses a technique for performing acceleration / deceleration control by secondary / cubic function connection in an operation based on table format data. When the technique of Patent Document 3 is applied, axis control is performed using the table format data shown in FIG.
In the following, for the sake of simplification, the description of the command for the acceleration / deceleration part at the start / end of the axis operation is omitted.

FIG. 13 shows an example of axis control using table format data for only the X axis. In general, a plurality of axes are operated independently of each other in synchronization with a reference value, so that the movement of the tool holder and the workpiece setting table can be performed. Control.
FIG. 14 shows an example in which a tool is controlled using table format data for the X and Z axes. In operation using table format data, each axis operates independently in synchronization with the reference value. FIG. 15 shows a schematic block diagram of a numerical control apparatus that controls a tool using the table format data <TIME_TABLE — 0101_X> and <TIME_TABLE — 0101_Z> shown in FIG. FIG. 15 shows distribution processing when the current reference value is between L1000 and L2000.

JP 59-177604 A JP 2003-303005 A JP 2007-304714 A

  In consideration of shortening the cycle time of the operation by the table format data shown in FIG. 14 as the prior art, the command before and after the corner can be obtained by advancing the command start timing immediately after the corner at the corner where the composite speed falls like L2000. Need to overlap. FIG. 16 shows an operation when the operation is performed with the X axis and the Z axis overlapping in L1900 to L2000 in the operation based on the table format data shown in FIG. As shown in FIG. 16, by overlapping the X axis and the Z axis, the cycle time is shortened by the overlapped 100 ms.

  However, in the operation by the table format data, since the tool moving direction and the synthesis speed can be calculated only by analyzing a plurality of table format data in parallel, the operator analyzes the table format data once output from the CAM, It has been difficult to manually search for possible overlapping locations and adjust the amount of overlap. Therefore, when performing such an operation, it is necessary to prepare a CAM corresponding to the overlap of the table format data and to re-output the table format data from the CAM every time the overlap location or the overlap amount is changed. The work for that was the labor of the operator.

  Therefore, an object of the present invention is to provide a numerical control device provided with a means capable of detecting and correcting an overlap portion of operation based on table format data.

The invention according to claim 1 of the present application uses a plurality of table format data for instructing the position of a control axis using time, an axis position, or a spindle position as a reference value, and a plurality of the control axes in synchronization with the reference value. In the numerical control device that controls the position of the control unit, a reading unit that sequentially reads the table format data in synchronization with the reference value and a movement amount of the control axis are generated based on the command block read by the reading unit A distribution processing unit; a movement amount holding unit for temporarily storing the movement amount of the control axis generated by the distribution processing unit; and reading the movement amount of the control axis from the movement amount holding unit; An overlap amount, which is a reference value amount for overlapping the movement amount, is obtained, and the corrected movement amount obtained by overlapping the movement amount of the control axis by the overlap amount is stored in the movement amount holding unit. And a overlap control section burn them, wherein controlling the control shaft based on the corrected movement amount, also the overlap control section, at the overlapping interval, the corrected movement amount equal to or smaller than the threshold value The overlap amount is calculated in a range that is, and a reference value that minimizes the combined speed is detected in an overlap section in which the combined speed is equal to or less than a predetermined threshold, and the reference value after the detected reference value is detected. An overlap amount, which is a reference value amount that overlaps the amount of movement of the control axis and the amount of movement of the control axis before the detected reference value, is obtained, and the control after the reference value at which the combined speed is minimized The corrected moving amount is calculated by superimposing the moving amount of the control axis before the reference value that minimizes the combined speed by advancing the moving amount of the axis by the overlap amount. That is a numerical control device.

The invention according to claim 2 of the present application is characterized in that the overlap control unit obtains the overlap amount in a range in which the corrected movement amount is equal to or less than the threshold value in the overlap section. 1 is a numerical controller.

Application of claim 3 according the invention, the overlap control unit instruction of the table format data of the threshold value, or parameters or can be modified by a signal, or claim 1, wherein the 2, It is a numerical control apparatus as described in.

The invention according to claim 4 of the present application uses a plurality of table format data for instructing the position of a control axis using time, an axis position, or a spindle position as a reference value, and a plurality of the control axes in synchronization with the reference value In the numerical control device that controls the position of the control unit, a reading unit that sequentially reads the table format data in synchronization with the reference value and a movement amount of the control axis are generated based on the command block read by the reading unit A distribution processing unit; a movement amount holding unit for temporarily storing the movement amount of the control axis generated by the distribution processing unit; and reading the movement amount of the control axis from the movement amount holding unit; An overlap is a command for obtaining an overlap amount, which is a reference value amount for overlapping the movement amount, and performing overlap for the table format data by the overlap amount. An overlap control unit that outputs corrected table format data to which an instruction has been added, a corrected read unit that sequentially reads the corrected table format data in synchronization with the reference value, and a read unit after correction A post-correction distribution processing unit that generates a post-correction movement amount of the control axis based on a command block, and controls the control axis in the previous period based on the post-correction movement amount generated by the post-correction distribution processing unit. Further, the overlap control unit reads out the movement amounts of the plurality of control axes in synchronization with the reference value, calculates a combined speed, and in an overlap section in which the combined speed is equal to or less than a predetermined threshold value. , Detecting a reference value that minimizes the combined speed, and determining a movement amount of the control axis after the detected reference value and a movement amount of the control axis before the detected reference value. A numerical control device characterized in that the overlap amount, which is a reference value amount to be overlapped, is obtained, and the corrected table format data in which the overlap command is added to a reference value at which the combined speed is minimized is output. is there.

The invention according to claim 5 of the present application, the overlap control unit, the corrected amount of movement determining the overlap amount in a range equal to or less than the threshold value, the numerical control according to claim 4, characterized in that Device.

The invention according to claim 6 of the present application, the overlap control unit instruction of the table format data of the threshold value, or a parameter, or can be changed by the signal, according to claim 4 or wherein the 5. The numerical control device according to 5 .

In the invention according to claim 7 of the present application, when the overlap command is input, the post-correction read unit includes a table format data command before the overlap command, a table format data command after the overlap command, Are simultaneously read and output to the post-correction distribution processing section. 7. The numerical control device according to claim 4 , wherein

In the invention according to claim 8 of the present application, the post-correction distribution processing unit includes a movement amount before overlap which is a movement amount of the control axis calculated from a table format data command before the overlap command, and the overlap command. calculating a corrected amount of movement superimposed overlap the moved amount of the moving amount, the said control shaft which is calculated from tabular data command after any one of claims 4-7, characterized in that It is a numerical control apparatus as described in.

  According to the present invention, it is easy to shorten the operation cycle time by the table format data, which is effective in improving the production efficiency.

It is the figure which compared the block diagram which shows the structure of the numerical control apparatus by a prior art, and the block diagram which shows the structure of the numerical control apparatus by one Embodiment of this invention. It is an example of calculation of the synthetic | combination speed by the numerical control apparatus by one Embodiment of this invention. It is a figure which shows the speed change of each axis | shaft before and behind an overlap area, and the change of a synthetic | combination speed. It is a figure which shows the synthetic | combination speed | rate of the movement amount after correction | amendment in the numerical control apparatus by one Embodiment of this invention. It is a figure which shows the modification which made the threshold value at the time of an overlap start and an end different. It is a flowchart describing the operation of the overlap control unit. It is a flowchart describing the details of the operation of the overlap processing. It is a block diagram which shows the structure of the numerical control apparatus by other embodiment of this invention. It is a figure which shows the example of the table format data after correction | amendment in the numerical control apparatus by other embodiment of this invention. It is a figure which shows the example which performs the overlapping process of the table format data after correction | amendment by the two distribution processing parts after correction | amendment in the numerical control apparatus by other embodiment of this invention. It is a figure (1) explaining the operation control of the control axis by general table format data. It is a figure (2) explaining operation control of a control axis by general table format data. It is a figure explaining the table format data in the case of performing acceleration / deceleration control. It is a figure (1) which shows an example which controls two axes using table format data. It is FIG. (2) which shows the example which controls two axes | shafts using table format data. It is a figure which shows the example controlled by making two axes overlap using table format data.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1A is a block diagram of a numerical controller according to the prior art, and FIG. 1B is a block diagram of the numerical controller according to an embodiment of the present invention. In FIG. 1, components having axis names assigned to the reference numerals are prepared for each number of axes to be controlled. For example, in FIG. 1, the X axis, Y axis, and Z axis An example is shown in which each component is prepared for each of three axes.

  In the operation by the table format data using the numerical control device 1 according to the prior art shown in FIG. 1A, the reading units 10x to 10z respectively read the command blocks of the respective axes from the table format data 20x to 20z prepared for each axis. Read sequentially, and notify the read command block to the distribution processing units 11x to 11z prepared for each axis as two control points of a start point and an end point. The distribution processing units 11x to 11z calculate the movement amount per unit reference value of each motor 2x to 2z by analyzing the notified reference value and coordinate value between the two control points. Then, the calculated movement amount per unit reference value is output to each of the motors 2x to 2z.

  On the other hand, in the numerical control apparatus 1 according to the embodiment of the present invention shown in FIG. 1B, a movement amount holding unit 12 and an overlap control unit 13 are newly installed. Calculation, detection of possible overlapping positions, calculation of movement amounts of each motor after overlap, and output the corrected movement amounts to the motors 2x to 2z.

Hereinafter, processing in the overlap control unit 13 will be described.
In the numerical control apparatus 1 according to the present embodiment, the reading units 10x to 10z sequentially read out the command blocks from the table format data 20x to 20z of each axis, and the distribution processing unit 11x with the read out command blocks as two control points of the start point and the end point. To ~ 11z. The distribution processing units 11x to 11z calculate the movement amount per unit reference value from the difference between the reference value between the two control points notified from the reading units 10x to 10z and the coordinate value, and the movement amount before correction 21x to 21z. Is stored in the movement amount holding unit 12. Here, in the numerical control device of the present invention, the calculation of the movement amount before correction by the distribution processing unit is performed in parallel for all table format data being executed. In other words, in the example of FIG. 1, the pre-correction movement amounts 21x to 21z are calculated in parallel by the distribution processing units 11x to 11z for the table format data 20x to 20z.

The pre-correction movement amounts 21x to 21z of each axis stored in the movement amount holding unit 12 are read by the overlap control unit 13, and a combined speed for each unit reference time is calculated. If below the threshold V _t of the rate of synthesis starting the overlap synthesis rate previously designated, moving the overlapping control unit 13 assumes that entered the overlapping interval, then synthesis rate to the point above the threshold V _t The amount holding unit 12 is read. At that time, the lower limit speed V _{0 at} which the combined speed of the movement amounts 21x to 21z before correction becomes the lower limit and the reference value L ₀ at that time are stored.

If the next synthesis rate was read on a movement amount holding unit 12 to the point above the threshold V _t, the overlap control unit 13 assumes that the overlapping interval is ended, the overlapping interval read out from the moving amount holding section 12 The post-correction movement amounts 22x to 22z are created based on the pre-correction movement amounts 21x to 21z. Specifically, a reference value for outputting the movement amount of each axis after the reference value L ₀ is advanced, and the superposed movement amount of each axis before the reference value L ₀ is set as the corrected movement amounts 22x to 22z. And stored in the movement amount holding unit 12. At this time, advancing the reference value movement amount of the reference value L ₀ and subsequent steps are output to the extent that the synthesis rate of the corrected movement amount 22x~22z does not exceed the threshold value V _t. Each motor operates based on the corrected movement amounts 22x to 22z, thereby realizing overlap.

FIG. 2 shows an example in which the combined speed of the X axis and the Z axis is calculated when the X axis is controlled based on the table format data <TIME_TABLE — 0101_X> and at the same time the Z axis is controlled based on the table format data <TIME_TABLE — 0101_Z>. Is shown. 2, when the V _t and 0.010 mm / msec, shaded portion of FIG. 2 is the overlapping interval.
FIG. 3 is a table showing changes in the speed and combined speed of each axis before and after the overlap section in FIG. In FIG. 3, since the combined speed of the X axis and the Z axis becomes the smallest value at the reference value L = 1999, 2000, the lower limit speed V ₀ = 0.0 at the reference value L ₀ = 1999 and the reference value L ₀ = 2000. 001 is stored.

FIG. 4 shows the reference values for the X-axis and Z-axis movement amounts after the reference value L ₀ = 2000 at which the lower limit speed V ₀ is finally output at the combined speed in the movement amount before correction shown in FIG. FIG. 5 is a graph and a table showing the combined speed of the corrected movement amount when it is superimposed on the movement amounts of the X axis and Z axis before the reference value L ₀ in advance. Threshold V _t of the rate of synthesis starting the overlap, in addition to setting default values by the parameter, also intended to be able to dynamically change by inserting a special command in the table format data. Also, as shown in FIG. 5, the composite speed threshold value V _t1 for starting the overlap and the composite speed threshold value V _t2 for ending the overlap may be set to different values.

FIG. 6 is a flowchart describing the operation of the overlap controller 13 according to this embodiment.
[Step SA01] The overlap controller 13 sequentially reads from the movement amount holder 12 the pre-correction movement amount 21 of all table format data 20 for each unit reference time calculated by each distribution processing unit 11.
[Step SA02] The overlap control unit 13 synthesizes the movement amounts of all table format data 20 for each unit reference time read in Step SA01, and calculates the synthesis speed.
● [Step SA03] overlap control unit 13 determines whether synthesis rate calculated in step SA02 is below a threshold value V _t of the rate of synthesis starting the overlapping which is set in advance. If it is lower, the process proceeds to step SA04, and if not lower, the process returns to step SA01.

[Step SA04] The overlap controller 13 executes the overlap processing of the table format data 20. Details of step SA04 will be described later.
[Step SA05] The overlap control unit 13 determines whether or not the entire movement amount of the movement amount holding unit 12 has been read. When the reading is completed, the operation is completed, and when the reading is not completed, the process returns to step SA01.

FIG. 7 is a flowchart showing details of the overlap processing in step SA04 in the flowchart of FIG.
[Step SB01] The overlap controller 13 substitutes the speed V _t at the start of the overlap processing and the reference value L _t as the initial values of the lower limit speed V ₀ and the reference value L ₀ that is the lower limit speed.
[Step SB02] The overlap control unit 13 reads the movement amount before correction of all table format data of the next unit reference time from the movement amount holding unit 12.
[Step SB03] The overlap controller 13 calculates the combined speed of each axis based on the pre-correction movement amount read in Step SB02.

● [Step SB04] overlap control unit 13 determines whether the synthesized speed calculated in step SB03 is the lower limit speed V ₀ below. Synthesis rate proceeds to step SB05 when the lower limit speed V ₀ or less, the process proceeds to step SB06 if not lower velocity V ₀ follows.
[Step SB05] The overlap controller 13 substitutes the combined speed calculated in Step SB03 and the reference value at that time for the lower limit speed V ₀ and the reference value L ₀ that is the lower limit speed.
[Step SB06] The overlap control unit 13 determines whether or not the composite speed calculated in Step SB03 is _{equal to} or higher than the threshold value Vt for completing the overlap. If it is _{equal to} or greater than the threshold value Vt, it is considered that the overlap section has ended, and the process proceeds to step SB07. It determines that is followed by the overlapping interval and if smaller than the threshold value V _t, the flow returns to step SB02.

[Step SB07] The overlap controller 13 initializes the overlap amount T (unit reference value) to 1.
[Step SB08] The overlap control unit 13 creates a movement amount that is output earlier than the movement amount 21 before correction by the unit reference value T for all table format data 20 after the reference value L _{0 as the} lower limit speed. .
[Step SB09] The overlap control unit 13 superimposes the movement amount created in Step SB08 on the movement amount 21 before correction before the reference value L ₀ as the lower limit speed as a (temporary) movement amount 22 after correction. Temporarily stored in the movement amount holding unit 12.

● [Step SB 10] overlap control unit 13 determines whether the rate of synthesis overlap in the interval of the corrected movement amount 22 calculated in step SB09 exceeds the threshold value V _t. If you exceed the threshold V _t proceeds to step SB11, the process proceeds to step SB12 in the case does not exceed the threshold V _t.
[Step SB11] The overlap control unit 13 officially sets the corrected movement amount 22 when the overlap amount is T-1 among the (temporary) corrected movement amount 22 stored in the movement amount holding unit 12. It is designated as the post-correction movement amount 22. At this time, if T = 1, the movement amount before correction 21 is used as it is as the movement amount 22 after correction.
[Step SB12] The value of the overlap amount T is incremented by 1, and the process returns to Step SB08.

  Note that the corrected travel amount 22 is output when the operation using the table format data 20 and the prefetching cannot be performed in parallel due to hardware restrictions or when it is desired to check the overlapped part before the operation. Instead, the overlap control unit 13 can directly rewrite the table format data 20.

  FIG. 8 is a block diagram of a numerical control apparatus according to another embodiment of the present invention when the overlap controller directly rewrites the table format data. In the numerical control apparatus 1 of the present embodiment, the table format data 20 is read based on a command from the overlap control unit 13 before the operation based on the table format data is performed, and the overlap processing based on the movement amount 21 before correction is performed. Is done. In the overlap processing executed by the overlap control unit 13 of the present embodiment, a command indicating the overlap amount is added to the table format data 20 after obtaining the overlap amount instead of creating the corrected movement amount 22 The post-correction table format data 23 is created, and the post-correction reading unit 14 sequentially reads out the data based on the reference value and passes it to the post-correction distribution processing unit 15, and the post-correction distribution processing unit 15 generates the corrected movement amount. The control axis is controlled based on the flowchart shown in FIG. At this time, the post-correction table format data 23 may be created by overwriting the table format data 20, or may be created as new table format data.

  FIG. 9 shows an example of post-correction table format data corrected by the overlap control unit 13 of the present embodiment. The overlap command “OVL4” added to the post-correction table format data shown in FIG. 9 indicates that the movement amount immediately after this command is overlapped with the movement amount immediately before by the reference value 4.

As an example, the numerical control apparatus 1 of the present embodiment includes each post-correction table format inside the post-correction distribution processing unit 15 when operating the post-correction table format data 23 corrected by the overlap control unit 13. This can be realized by providing two after-correction distribution processing units for outputting the movement amount before the overlap command for the data 23 and after-correction distribution processing units for outputting the movement amount after the overlap command. For example, as shown in FIG. 10, when the X-axis control is performed based on the corrected table format data 23x used for the X-axis control, the correction is performed when the overlap period (reference value L1996 to 2000) is present. In the post-distribution processing unit 15x, a distribution processing unit 15x1 that outputs the movement amount before the overlap command based on a command originally commanded by the corrected table format data 23x, and a reference value corresponding to the command commanded by the OVL command. Two distribution processing units, that is, the distribution processing unit 15x2 that outputs the movement amount after the overlap command early, operate simultaneously, and the two movement amounts calculated thereby are superimposed and output to the motor 2x.
In the above, after L2000, the X-axis distribution processing unit 15x1 is invalidated, and the command is processed by the X-axis distribution processing unit 15x2. Therefore, the commands after “OVL4” are executed at a timing earlier by 4 unit reference times. Although the above is for the X-axis, the movement amounts before and after “OVL4” are similarly superimposed on the other axes and output to the motor.
In the numerical control device 1 of the present embodiment, the movement amount storage unit 12 and the overlap control unit 13 do not have to be used during operation based on the corrected table format data.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and can be implemented in various modes by making appropriate changes.

1 Numerical control device 2, 2x, 2y, 2z Motor 10, 10x, 10y, 10z Reading unit 11, 11x, 11y, 11z Distribution processing unit 12 Movement amount holding unit 13 Overlap control unit 14, 14x, 14y, 14z After correction Read unit 15, 15x, 15y, 15z Post-correction distribution processing unit 15x1, 15x2 Distribution processing unit 20, 20x, 20y, 20z inside post-correction distribution processing unit for X-axis Table format data 21, 21x, 21y, 21z Before correction Movement amount 22,22x, 22y, 22z Movement amount after correction 23,23x, 23y, 23z Table format data after correction

Claims (8)

In a numerical controller that controls the position of a plurality of control axes in synchronization with the reference value, using a plurality of table format data for instructing the position of the control axis, using time, axis position, or spindle position as a reference value.
A reading unit that sequentially reads out the table format data in synchronization with the reference value;
A distribution processing unit that generates a movement amount of the control axis based on the command block read by the reading unit;
A movement amount holding unit for temporarily storing the movement amount of the control axis generated by the distribution processing unit;
The movement amount of the control axis is read from the movement amount holding unit, an overlap amount that is a reference value amount for overlapping the movement amount of the control axis is obtained, and the movement amount of the control axis is overlapped by the overlap amount An overlap control unit that writes the corrected movement amount to the movement amount holding unit;
With
Controlling the control axis based on the corrected movement amount;
The overlap controller reads out the movement amounts of the plurality of control axes in synchronization with the reference value, calculates a combined speed, and performs the combining in an overlap section where the combined speed is equal to or less than a predetermined threshold. A reference value that detects the reference value with the lowest speed and overlaps the amount of movement of the control axis after the detected reference value and the amount of movement of the control axis before the detected reference value. A certain overlap amount is obtained, and the amount of movement of the control axis before the reference value at which the combined speed is minimized by advancing the amount of movement of the control axis after the reference value at which the combined speed is the smallest by the overlap amount Calculate the corrected movement amount superimposed
A numerical controller characterized by that. The overlap control unit obtains the overlap amount in a range where the corrected movement amount is equal to or less than the threshold value in the overlap section .
The numerical controller according to claim 1. The overlap control unit can change the threshold value by a command of the table format data, a parameter, or a signal.
The numerical control apparatus according to claim 1 or 2, wherein In a numerical controller that controls the position of a plurality of control axes in synchronization with the reference value, using a plurality of table format data for instructing the position of the control axis, using time, axis position, or spindle position as a reference value.
A reading unit that sequentially reads out the table format data in synchronization with the reference value;
A distribution processing unit that generates a movement amount of the control axis based on the command block read by the reading unit;
A movement amount holding unit for temporarily storing the movement amount of the control axis generated by the distribution processing unit;
The movement amount of the control axis is read from the movement amount holding unit, an overlap amount that is a reference value amount for overlapping the movement amount of the control axis is obtained, and the overlap amount is overlapped with the table format data by the overlap amount An overlap controller that outputs corrected table format data with an overlap command added
A post-correction read unit that sequentially reads the post-correction table format data in synchronization with the reference value;
A post-correction distribution processing unit that generates a post-correction movement amount of the control axis based on the command block read by the post-correction read unit;
With
Controlling the control axis based on the post-correction movement amount generated by the post-correction distribution processing unit;
The overlap controller reads out the movement amounts of the plurality of control axes in synchronization with the reference value, calculates a combined speed, and performs the combining in an overlap section where the combined speed is equal to or less than a predetermined threshold. A reference value that detects the reference value with the lowest speed and overlaps the amount of movement of the control axis after the detected reference value and the amount of movement of the control axis before the detected reference value. Obtaining the overlap amount, and outputting the corrected table format data in which the overlap command is added to a reference value that minimizes the combined speed;
Numerical control device you wherein a. The overlap control unit obtains the overlap amount in a range where the corrected movement amount is equal to or less than the threshold value.
The numerical control apparatus according to claim 4, wherein: The overlap control unit can change the threshold value by a command of the table format data, a parameter, or a signal.
The numerical control apparatus according to claim 4 or 5 , wherein When the overlap command is input, the post-correction reading unit simultaneously reads the table format data command before the overlap command and the table format data command after the overlap command, and the post-correction distribution process Output to the
The numerical control apparatus according to any one of claims 4 to 6, wherein: The post-correction distribution processing unit is a movement amount before overlap which is a movement amount of the control axis calculated from a table format data command before the overlap command and the table format data command calculated after the overlap command. Calculate the corrected amount of movement by superimposing the amount of movement after overlap, which is the amount of movement of the control axis,
The numerical control apparatus according to any one of claims 4 to 7, wherein

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